Systems and methods for cleaning a tray in a grow pod

ABSTRACT

Embodiments disclosed herein generally relate to systems and methods for emptying and/or cleaning a tray within an assembly line grow pod. In one embodiment, a sanitizer component for cleaning a tray coupled to a cart in an assembly line grow pod is disclosed. The sanitizer component is coupled to a track such that the cart and the tray are received in the sanitizer component via the track. The sanitizer component comprises a first actuator arm positioned underneath the track and extendable through an opening in the track and an aperture at a bottom end of the cart to contact the tray such that the tray rotates in a first direction. The sanitizer component further includes an actuator motor coupled to the first actuator arm for extending the first actuator arm and a controller. The controller is communicatively connected to the actuator motor in the sanitizer component.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of and claims priority to U.S. patentapplication Ser. No. 15/926,746, filed Mar. 20, 2018 and entitled“SYSTEMS AND METHODS FOR CLEANING A TRAY IN A GROW POD,” now issued asU.S. Pat. No. 10,421,618 on Sep. 24, 2019, which claims the benefit ofU.S. Provisional Application Ser. No. 62/519,442, filed on Jun. 14, 2017and Provisional Application Ser. No. 62/519,304, also filed on Jun. 14,2017, which are incorporated by reference in their entireties.

TECHNICAL FIELD

Embodiments described herein generally relate to systems and methods forcleaning a tray that is traversing a track and specifically toembodiments for cleaning and/or sanitizing a tray as part of an assemblyline grow pod.

BACKGROUND

While crop growth technologies have advanced over the years, there arestill many problems in the farming and crop industry today. As anexample, while technological advances have increased efficiency andproduction of various crops, many factors may affect a harvest, such asweather, disease, infestation, and the like. Additionally, while theUnited States currently has suitable farmland to adequately provide foodfor the U.S. population, other countries and future populations may nothave enough farmland to provide the appropriate amount of food.

Industrial grow pods have enabled growing of crops more efficiently andin a smaller amount of space than typically found in a farm. However, inorder to repeatedly grow and harvest multiple crops, the carts and trayswhere the crop plants are grown have to be continuously emptied, cleanedand re-seeded in an assembly line manner. One of the pressing issueswith a grow pod is how to clean the trays after the plants are harvestedin order to ensure proper removal of any plant and particulate matterand water used for the prior crop plants, before the trays are re-seededfor the next crop. The process of cleaning the trays thoroughly isfundamentally important to the growth and development of the subsequentproduction of crops; however, it can be quite labor-intensive andtime-consuming. An automated and efficient system for emptying and/orcleaning a tray within an assembly line grow pod is thus desirable.

SUMMARY

Embodiments disclosed herein generally relate to systems and methods foremptying and/or cleaning a tray within in an assembly line grow pod. Inone embodiment, a method of cleaning a tray coupled to a cart placed ona track includes directing movement of the cart along the track into asanitizer component and directing movement of a first actuator armpositioned underneath the track and extendable through an opening in thetrack and an aperture at the bottom of the cart such that the firstactuator arm extends through the opening in the track and the apertureat the bottom of the cart to contact the tray such that the tray rotatesin the first direction.

In another embodiment, a method of automatically cleaning a tray coupledto a cart placed on a track includes directing, by a control device,movement of the cart into a sanitizer component along the track. Themethod further includes transmitting, by the control device, one or moresignals to cause a first actuator arm to extend through an opening inthe track and an aperture at a bottom of the cart to contact the traysuch that the tray rotates in a first direction. The method furtherincludes transmitting, by the control device, one or more signals torotate the tray in a second direction opposite the first direction.

In yet another embodiment, a method of cleaning a tray coupled to a cartplaced on a track includes directing a first actuator arm positionedunderneath the track at a sanitizer component to extend through anopening in the track and an aperture at the bottom of the cart tocontact the tray such that the tray rotates in the first direction andremoving material present on the tray.

These and additional features provided by the embodiments of the presentdisclosure will be more fully understood in view of the followingdetailed description, in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments set forth in the drawings are illustrative and exemplaryin nature and not intended to limit the disclosure. The followingdetailed description of the illustrative embodiments can be understoodwhen read in conjunction with the following drawings, where likestructure is indicated with like reference numerals and in which:

FIG. 1A depicts a first side perspective view of an illustrativeassembly line grow pod, according to embodiments described herein;

FIG. 1B depicts a second side perspective view of the illustrativeassembly line grow pod, according to embodiments described herein;

FIG. 2 schematically depicts a lengthwise side view of an illustrativesanitizer component of the assembly line grow pod and having a cartpassing therethrough, according to embodiments described herein;

FIG. 3 schematically depicts a breadthwise side view of the illustrativesanitizer component of the assembly line grow pod and having the cartpassing therethrough, according to embodiments described herein;

FIG. 4 schematically depicts a block diagram of illustrative componentsof the illustrative sanitizer component of the assembly line grow pod,according to embodiments described herein;

FIG. 5 depicts a flow diagram of an illustrative method for cleaning atray within the assembly line grow pod, according to embodimentsdescribed herein; and

FIG. 6 depicts a flow diagram of an illustrative process of cleaningimplemented by the sanitizer component, according to embodimentsdescribed herein.

DETAILED DESCRIPTION

Embodiments disclosed herein generally relate to systems and methods foremptying and/or cleaning a tray within an assembly line grow pod. Someembodiments are configured with an assembly line of plants in carts thatfollow a track, wrapping around a first axis in a vertically upwarddirection and a second axis in a vertically downward direction. Theembodiments described herein utilize various stations and/or componentsfor facilitating an automatic assembly line for repeatedly planting,growing and harvesting plants by utilizing carts and trays that traversethe track interconnecting the various stations and/or components. Beforerepeating, the trays may be emptied, cleaned, and/or sanitized. Thesystems and methods for emptying and/or cleaning the tray coupled to thecart in an assembly line grow pod incorporating the same is described inmore detail below.

Referring to the drawings, FIGS. 1A and 1B depict a first sideperspective view and a second side perspective view respectively of anillustrative assembly line grow pod 100. A system 1 for emptying and/orcleaning a tray 105 passing through the assembly line grow pod 100includes one or more carts 104 and a track 102 for holding the carts104. The system 1 also includes a sanitizer component 120 for emptyingand/or cleaning the tray 105 supported on each cart 104 and a controller400 (shown in FIG. 4) communicatively connected to an actuator motor 210(shown in FIG. 2) in the sanitizer component 120. The controller 400 iscommunicatively coupled to a master controller 106.

Still referring to FIGS. 1A and 1B, the track 102 includes an ascendingportion 102 a, a descending portion 102 b, and a connection portion 102c in some embodiments. The track 102 wraps around (in a counterclockwisedirection as shown in FIG. 1A and FIG. 1B, although clockwise or otherconfigurations are also contemplated) a first axis A₁ such that thecarts 104 ascend upwards in a vertical direction (i.e., in the +ydirection of the coordinate axes of FIG. 1A). The connection portion 102c is relatively level (although this is not a requirement) and isutilized to transfer the carts 104 to the descending portion 102 b. Thedescending portion 102 b may be wrapped around a second axis A₂ (in acounterclockwise direction as shown in FIG. 1A and FIG. 1B, althoughclockwise or other configurations are also contemplated) that issubstantially parallel to the first axis A₁, such that the carts 104 candescend towards the ground level in a vertical direction (i.e., in the−y direction of the coordinate axes of FIG. 1A). It should be understoodthat while the embodiments of FIGS. 1A and 1B depict an assembly linegrow pod 100 that wraps around a plurality of axes, this is merely oneexample. Any configuration of the assembly line grow pod 100 or astationary grow pod may be utilized for performing the functionalitydescribed herein. As shown in FIGS. 1A and 1B, the assembly line growpod 100 includes the master controller 106. The master controller 106may include a computing device and/or other hardware for controllingvarious components of the assembly line grow pod 100. As an example, awater distribution component, a nutrient distribution component, an airdistribution component, etc. may be included as part of the mastercontroller 106.

A watering component 122 is coupled to one or more water lines 110,which distribute water and/or nutrients to the carts 104 atpredetermined areas of the assembly line grow pod 100. Water is storedin one or more fluid tanks 450 (shown in FIG. 3) which are fluidlyconnected to the sanitizer component 120 and/or the watering component122 by the water lines 110. The fluid tanks 450 (i) provide water,nutrients, and/or other fluids for plant growth, (ii) provide fluid tothe sanitizer component 120, (iii) collect used water from plantwatering and/or used water from washing/sanitizing the carts 104, and/or(iv) store water and/or other fluids during a water recycling process.In some embodiments, water may be transferred between the fluid tanks450 while undergoing water reconditioning or recycling processes. Therecollection and recycling of water allows the assembly line grow pod100 to efficiently use water and produce little or no wastewater. Forexample, without limitation, the used water may be recycled through thesteps of coagulation, sedimentation, filtration, disinfection andstorage.

In some embodiments, the carts 104 are advanced through at least aharvester component 118, the sanitizer component 120 and a seedercomponent 108 of the assembly line grow pod 100 along the track 102. Theharvester component 118 harvests the plants on the tray 105. Once theplants are harvested in the harvester component 118, the carts 104 passthrough the sanitizer component 120 for cleaning as described in greaterdetail herein. Once cleaned, the carts 104 advance to the seedercomponent 108, which determines if seeding is required and thereafterbegins the process of seeding.

Accordingly, the sanitizer component 120 may be operatively connected inthe assembly line grow pod 100 between the harvester component 118 andthe seeder component 108 (shown in FIG. 1B). The sanitizer component 120receives a cart 104 on the track 102 from the harvester component 118after the plants on the tray 105 have been harvested. However, thesanitizer component 120 may also receive a cart 104 on an auxiliarytrack (not shown) that bypasses the harvester component 118. Such anauxiliary track may be utilized for a cart 104 that bypasses theharvester component 118 because the cart 104 includes seeds/plants thathave been determined to be dead, contaminated, unsalvageable, etc. Thesanitizer component 120 is utilized to empty the contents of the tray105 containing unused plant matter, water, contaminants or the like aswell as to clean and sanitize the tray 105 and/or cart 104, as describedin greater detail herein.

FIGS. 2 and 3 schematically depict a lengthwise side view and abreadthwise side view of an illustrative sanitizer component 120 of theassembly line grow pod 100 (FIGS. 1A and 1B). As shown in FIGS. 2 and 3,the sanitizer component 120 is coupled to the track 102 and processesthe carts 104 passing therethrough in the +x direction of the coordinateaxes of FIG. 2. While the track 102 is illustrated as a straight trackin FIG. 2, the track 102 may also be a curved track. The track has oneor more openings 203. As illustrated, each cart 104 includes the tray105 and wheels 204 a-204 d. The wheels 204 a-204 d may be coupled to thetrack 102. The cart 104 is coupled to a tray 105 by a hinged connection207. The cart 104 also has an aperture 209 at its bottom end.

In the embodiments shown in FIGS. 2-4, the sanitizer component 120 hasan actuator motor 210 disposed therein. The actuator motor 210 iscommunicatively coupled to the controller 400 (FIG. 4) to send andreceive information to/from the controller 400. Still referring to FIGS.2 and 3, the actuator motor 210 may be a drive component such as, butnot limited to, a piezoelectric motor (e.g., a piezoelectric actuator),an electrical motor (e.g., a linear motor actuator), or anelectromechanical motor (e.g., an electromechanical actuator). However,other drive components, such as those that use pneumatic and hydrauliccomponents, may also be used without departing from the scope of thepresent disclosure. As illustrated in FIGS. 2 and 3, the actuator motor210 is coupled to a first actuator arm 220 at a base 222 thereof. Thefirst actuator arm 220 is positioned underneath the track 102 and isextendable through the aperture 209 and the opening 203 in the track 102in an upwards direction (i.e. in the +y of the coordinate axes of FIG.3). The first actuator arm 220 may act as a linear actuator, a rotaryactuator, or an oscillating actuator. The first actuator arm 220 has ahead 224 which contacts and rotates the tray 105 in a counterclockwisedirection about the hinged connection 207 (i.e. about an axis along adirection +x of the coordinate axes of FIG. 2). In some embodiments, thefirst actuator arm 220 extends a distance necessary to rotate the tray105 by about 90 degrees or more (and in some embodiments about 180degrees or more). That is, the first actuator arm 220 may cause the tray105 to invert such that the contents of the tray 105 are emptiedtherefrom.

In some embodiments as illustrated in FIGS. 2 and 3, the actuator motor210 is coupled to a second actuator arm 230 at a base 232 thereof. Thesecond actuator arm 230 is located further downstream from the firstactuator arm 220 along the direction +x of the coordinate axes of FIG.2. The second actuator arm 230 has a head 234 which contacts and rotatesthe tray 105 in a clockwise direction about the hinged connection 207(i.e. about an axis along a direction −x of the coordinate axes of FIG.2). In some embodiments as illustrated in FIGS. 2 and 3, the actuatormotor 210 is coupled to a third actuator arm 240 at a base 242 thereof.The third actuator arm 240 is located further downstream from the firstactuator arm 220 and the second actuator arm 230 along the direction +xof the coordinate axes of FIG. 2. The third actuator arm 240 ispositioned underneath the track 102 and is extendable through theaperture 209 and the opening 203 in the track 102 in a direction +y ofthe coordinate axes of FIG. 3. The third actuator arm 240 has a head 244which receives and lowers the tray 105 into an original positionsubstantially parallel to the track 102. The second actuator arm 230 andthe third actuator arm 240 may also act as a linear actuator, a rotaryactuator, or an oscillating actuator. While FIG. 2 depicts a singleactuator motor 210 that is used to drive the first actuator arm 220, thesecond actuator arm 230, and the third actuator arm 240, this is merelyillustrative. That is, the first actuator arm 220, the second actuatorarm 230, and the third actuator arm 240 may each have an associatedactuator motor that drives movement of the respective arm.

The second actuator arm 230 and the third actuator arm 240 shown inFIGS. 2 and 3 are optional and may be absent in some embodiments,without compromising the functionality of the sanitizer component 120.In those embodiments, the actuator motor 210 drives the first actuatorarm 220 to rotate the tray 105 counterclockwise from a generallyhorizontal position (e.g. about 0 degree angle relative to the cart 104)on the track 102 to a rotated position (e.g. > about 0 degree anglerelative to the cart 104) for cleaning in the sanitizer component 120.In some embodiments, the tray 105 rotates about the hinged connection207 from greater than or equal to zero degrees to about 90 degrees (orin some embodiments about 180 degrees or more). When the actuator motor210 drives the first actuator arm 220 in the opposite direction, thefirst actuator arm 220 rotates from back to a generally horizontalposition (e.g. 0 degree angle) with the track 102. In at least some ofthe embodiments described above, rotating the tray 105 enables easierremoval of materials as part of the cleaning process because theparticulate materials fall out and water flows out of the tray by theforce of gravity. Numerous variations of the motion of each of theactuator arms 220, 230 and 240 are hereby intended to be includedwithout departing from the scope of the invention. In some embodiments,the first actuator arm 220, the second actuator arm 230 and the thirdactuator arm 240 may have separate actuator motors, instead of thesingle actuator motor 210.

Referring to FIG. 3, the sanitizer component 120 further includes areservoir 460 fluidly coupled to the one or more fluid tanks 450 throughan outlet 470 by a pipe 475. The reservoir 460 may be located inside oroutside the sanitizer component 120. As the tray 105 is cleaned, thewater used during cleaning may be collected in the reservoir 460 forrecycling and subsequent uses by the sanitizer component 120. Thesanitizer component 120 also includes a waste collection system 480fluidly coupled to the one or more fluid tanks 450 through an outlet 490by a pipe 495. The waste collection system 480 may be located inside oroutside the sanitizer component 120. The waste collection system 480collects used water and particulate material, which may be recycled forfuture use within the assembly line grow pod 100. The used water returnsto one or more of the fluid tanks 450 through the water lines 110. Thesanitizer component 120 receives the recycled water from the fluid tanks450 for cleaning and sanitizing the carts 104 and/or trays 105 prior toreseeding. The sanitizer component 120 further includes at least one ofa high pressure jet sprayer, a contact scrubber, a rinsing system, a UVradiation treatment system, a heater, and an air blower. The functionsof each of these components are discussed below in greater detail.

The sanitizer component 120 may have only the actuation component insome embodiments for emptying the contents of the tray 105, though inothers it may also have all the functions for cleaning the tray 105, asdescribed below. For example, in some embodiments, the tray 105 is onlyemptied inside sanitizer component 120 and subsequently advanced toanother chamber for cleaning. In other embodiments, the tray 105 is bothemptied and cleaned inside the sanitizer component 120 to remove anyparticulate, plant material, etc. that may remain on the tray 105.Within some of these embodiments, the tray 105 may be emptied androtated back to original position prior to cleaning. In otherembodiments, the tray 105 may be emptied and cleaned before beingrotated back to an original position. For example, the tray 105 may berotated and the held in place by the first actuator arm 220 during ahigh pressure wash. When the wash is completed, the first actuator arm220 slowly retracts and the high pressure water jet is used to press thetray 105 to its original position. The tray 105 is subsequently driedand/or sanitized.

In yet another embodiment, the tray 105 is double-sided (e.g., canreceive seeds on either side) and the hinge 207 is on a rail (not shown)which is actuated by the second actuator arm 230 or another actuator arm(not shown) to slide along the top edge of the cart 104 in the +zdirection (see FIG. 3). As a result, after the top side of the tray 105is emptied in the sanitizer component 120, the hinge 207 slides alongthe rail in the +z direction until the bottom side and the top side ofthe tray 105 are flipped. This enables re-seeding of the tray 105 on thenow top side (previously the bottom side) of the tray 105 while the nowbottom side of the tray 105 is washed and cleaned through the aperture209 of the cart 104 and the opening 203 of the track 102.

Referring again to FIG. 3, the sanitizer component 120 includes anautomatic inspection system 160 comprising one or more sensors 165,which may be located inside or outside the sanitizer component 120. Theone or more sensors 165 detect a presence of contents in the tray 105and determine whether the tray 105 (shown in FIG. 3) is clean and readyfor reseeding. Still referring to FIG. 3, the sensor 165 is a cameraattached to the walls of sanitizer component 120. The camera may also beattached under the track 102 in some embodiments. The camera can capturean image of the contents in the cart 104 and the tray 105 (shown in FIG.3). The camera may have a wide angle lens to capture the contents ofmore than one cart 104. In other embodiments, the sensor 165 may be aweight sensor placed on the track 102 and/or the cart 104 and measuresthe weight of the cart 104. The weight is indicative of the presence ofcontents in the cart 104 and/or the tray 105. The automatic inspectionsystem 160 is communicatively coupled to the controller 400 and sendsinformation from the sensor 165 to the controller 400.

FIG. 4 shows a block diagram of illustrative hardware components of thecontroller 400 within the sanitizer component 120. As illustrated, thecontroller 400 includes a memory component 420, a processing device 440,input/output hardware 436, network interface hardware 438, and a datastorage component 430 (which stores systems data 432, sensor data 434,and/or other data). The controller 400 controls the automatic inspectionsystem 160, the actuator motor 210 as well as the temperature of thewater and the amount of cleaning chemicals or additives for cleaning thecart 104 and/or tray 105 in the sanitizer component 120.

Each of the components of the controller 400 may be communicativelycoupled to a local communications interface 448. The localcommunications interface 448 is generally not limited by the presentdisclosure and may be implemented as a bus or other communicationsinterface to facilitate communication among the components of thecontroller 400 coupled thereto.

The memory component 420 may be configured as volatile and/ornonvolatile memory and as such, may include random access memory(including SRAM, DRAM, and/or other types of RAM), flash memory, securedigital (SD) memory, registers, compact discs (CD), digital versatilediscs (DVD), Blu-Ray discs, and/or other types of non-transitorycomputer-readable mediums. Depending on the particular embodiment, thesenon-transitory computer-readable mediums may reside within or outsidethe controller 400. The memory component 420 may store, for example,operating logic 422, sensing logic 424, and systems logic 426. Theoperating logic 422, the sensing logic 424, and the systems logic 426may each include a plurality of different pieces of logic, each of whichmay be embodied as a computer program, firmware, and/or hardware, as anexample.

The operating logic 422 may include an operating system and/or othersoftware for managing components of the controller 400. As alsodiscussed above, the sensing logic 424 and the systems logic 426 mayreside in the memory component 420 and may be configured to provideprogramming instructions for providing the functionality of thesanitizer component 120, as described herein. For example, the systemslogic 426 may include logic components for causing components within thesanitizer component 120 to clean the tray 105. In another example, thesensing logic 424 may include logic components for receiving data fromvarious sensors (for example, the sensor 165 of the automatic inspectionsystem 160) and completing one or more processes in response to thereceived data, as described herein.

The processing device 440 may include any processing component operableto receive and execute instructions (such as from the data storagecomponent 430 and/or the memory component 420). Illustrative examples ofthe processing device 440 include, but are not limited to, a computerprocessing unit (CPU), a many integrated core (MIC) processing device,an accelerated processing unit (APU), a digital signal processor (DSP).In some embodiments, the processing device 440 may be a plurality ofcomponents that function together to provide processing capabilities,such as integrated circuits (including field programmable gate arrays(FPGA)) and the like.

The input/output hardware 436 may include and/or be configured tointerface with microphones, speakers, a display, and/or other hardware.That is, the input/output hardware 436 may interface with hardware thatprovides a user interface or the like. For example, a user interface maybe provided to a user for the purposes of adjusting settings, viewing astatus, and/or the like.

The network interface hardware 438 may include and/or be configured forcommunicating with any wired or wireless networking hardware, includingan antenna, a modem, LAN port, wireless fidelity (Wi-Fi) card, WiMaxcard, ZigBee card, Bluetooth chip, USB card, mobile communicationshardware, and/or other hardware for communicating with other networksand/or devices. From this connection, communication may be facilitatedbetween the controller 400 and other computing devices, such as usercomputing devices and/or remote computing devices.

The data storage component 430 may generally be any medium that storesdigital data, such as, for example, a hard disk drive, a solid statedrive (SSD), a compact disc (CD), a digital versatile disc (DVD), aBlu-Ray disc, and/or the like. It should be understood that the datastorage component 430 may reside local to and/or remote from thecontroller 400 and may be configured to store one or more pieces of dataand selectively provide access to the one or more pieces of data. Asillustrated in FIG. 4, the data storage component 430 may store systemsdata 432, sensor data 434, and/or other data, as described in greaterdetail herein.

It should be understood that while the components in FIG. 4 areillustrated as residing within the controller 400, this is merely anexample. In some embodiments, one or more of the components may resideexternal to the controller 400. It should also be understood that, whilethe controller 400 is illustrated as a single device, this is alsomerely an example. That is, the controller 400 may be a plurality ofdevices that are communicatively coupled to one another and provide thefunctionality described herein.

Additionally, while the controller 400 is illustrated with the variouslogic components (e.g., the operating logic 422, the sensing logic 424and the systems logic 426) and data components (e.g., the systems data432 and the sensor data 434) as separate components, this is also anexample. In some embodiments, a single piece of logic (and/or aplurality of linked modules) and/or a single data component (and/or aplurality of linked modules) may also cause the controller 400 toprovide the functionality described herein.

The system 1 described herein can be used advantageously to empty, cleanand sanitize the tray 105 in the assembly line grow pod 100.

As the carts 104 traverse the track 102 of the assembly line grow pod100, the plants on the tray 105 are lighted, watered, and providednutrients. In some embodiments, the cart 104 may be advanced through thesanitizer component 120 on the track 102. In other embodiments, the cart104 may be advanced through the sanitizer component 120 on an auxiliarytrack or a conveyor system, which can accept the cart 104 in one or moreconfigurations for cleaning and sanitizing. In some embodiments, theassembly line grow pod 100 detects a growth and/or fruit output of aplant on the tray 105 and determines that harvesting is warranted, uponwhich the cart 104 advances through the harvester component 118, wherethe growth and/or fruit output is harvested. Subsequently, the cart 104enters the sanitizer component 120.

The automatic inspection system 160 detects the presence of contents onthe tray 105 on the cart 104 using the sensor 165. The sensor 165communicates the information on the presence of contents on the tray 105to the controller 400. The controller 400 communicates with the actuatormotor 210 based on the information received from the sensor 165. Theactuator motor 210, upon receiving a signal from the controller 400actuates the first actuator arm 220. Referring to FIG. 2 and FIG. 3, asthe cart 104 passes through the sanitizer component 120 on the track 102in the direction +x of the coordinate axes of FIG. 2, the first actuatorarm 220 extends through the aperture 209 and the opening 203 in thetrack 102 to contact the tray 105. The motion of the first actuator arm220 rotates the tray 105 in a counterclockwise direction about an axisalong a direction +x of the coordinate axes of FIG. 2. In someembodiments, the first actuator arm 220 may extend a distance necessaryto rotate the tray 105 about the hinged connection 207 by 90 degrees ormore (or in some embodiments about 180 degrees or more). The rotation ofthe first actuator arm 220 empties the contents of the tray 105. Thecart 104 then advances on the track 102 through the sanitizer component120 with the tray 105 in the rotated position until it reaches aposition adjacent to the second actuator arm 230. The actuator motor 210actuates the second actuator arm 230 and the third actuator arm 240. Thesecond actuator arm 230 contacts and rotates the tray 105 in a clockwisedirection about an axis along a direction +x of the coordinate axes ofFIG. 2. The third actuator arm 240 then receives and lowers the tray 105into its original position which is substantially parallel to the track102.

After the contents of the cart 104 and/or tray 105 are emptied, it isinspected manually or by the automatic inspection system 160. If thecart 104 and/or tray 105 are determined to be clean they are allowed toexit the sanitizer component 120. However, if the cart 104 and/or tray105 are determined to be unclean, they are washed and sanitized. Thesanitizer component 120 implements any of a plurality of differentcleaning mechanisms, using high pressure water, high temperature water,and/or other solutions for cleaning the cart 104 and/or tray 105. Insome embodiments, the tray 105 may stay in a rotated position duringcleaning. In those embodiments, the sanitizer component 120 cleans thetray 105 in the rotated position and restores the tray 105 back to itsoriginal position substantially parallel to the track 102 aftercleaning. In other embodiments, the sanitizer component 120 washes thetray 105 after the tray 105 is rotated back in a horizontal position.Further, in some embodiments both the tray 105 and cart 104 may be in arotated position to facilitate cleaning.

The sanitizer component 120 uses different temperatures of water anddifferent chemicals to clean and sanitize the cart 104 and/or tray 105.The high pressure jet sprayers use high pressure streams of water(and/or other fluid), optionally with various chemicals and at varioustemperatures, to remove particulate material from the cart 104 and/ortray 105. The UV radiation sources focus UV light on cart 104 and/ortray 105 at wavelengths configured to kill or denature anymicroorganisms such as pathogens, viruses, bacteria and the like, whichmay adversely affect new seeds from germinating or future plant growth.The contact scrubbers include brushes or other materials to inducecleaning by way of friction. The rinsing systems use clean orneutralizing water to remove any remaining material or chemicals usedduring the sanitizing process. Finally, heaters and/or blowers are usedto dry the cart 104 and/or tray 105.

Once the cart 104 and/or tray 105 are clean and sanitized, they advancetowards exiting the sanitizer component 120. The tray 105 may be in agenerally horizontal position or a rotated position. In the event thetray 105 is in a rotated position, the actuator motor 210, the secondactuator arm 230 and the third actuator arm 240 operate to return thetray 105 to its original position substantially parallel to the track102. The cart 104 and/or tray 105 subsequently advance towards theseeder component 108 for reseeding. Additional details regarding thevarious processes are discussed herein with respect to FIGS. 5 and 6.

FIG. 5 depicts a flow diagram of a method 500 for cleaning a tray 105 ona cart 104 placed within the assembly line grow pod 100. Referring alsoto FIGS. 1, 2 and 3, at block 510, a controller 400 directs the movementof the cart 104 on a track 102 of an assembly line grow pod 100.Accordingly, the cart 104 moves from a harvester component 118 to asanitizer component 120 that is part of the assembly line grow pod 100.At block 520, the controller 400 receives information from sensor 165 ofan automatic inspection system 160 regarding a presence of contents ofthe tray 105 coupled to the cart 104 by a hinged connection 207. Atblock 530, the controller 400 determines if the contents of the tray 105are to be emptied.

At block 540, the controller 400 directs an actuator motor 210 toactuate a first actuator arm 220 to extend through an opening 203 in thetrack 102 and an aperture 209 on a bottom end of the cart 104 such thatthe first actuator arm 220 connects with the tray 105 and rotates thetray 105 about the hinged connection 207 in a first direction (shown inFIG. 3). As the contents of the tray 105 fall out due to gravity, thetray 105 is emptied. In some embodiments, the tray 105 is rotated 90degrees or more (or in some embodiments about 180 degrees or more) inthe first direction to empty the contents. At block 550, the controller400 directs the actuator motor 210 to actuate a second actuator arm 230to rotate the tray 105 about the hinged connection 207 in the oppositedirection (shown in FIG. 3).

The second actuator arm 230 may be placed on the side of the track 102within the sanitizer component 120. At block 560, the controller 400directs the actuator motor 210 to actuate a third actuator arm 240 toreceive and lower the tray 105 in order to restore it to its originalposition on the cart 104 (shown in FIG. 3). The third actuator arm 240is positioned underneath the track 102 and extendable through an opening203 in the track 102 and the aperture 209 on a bottom end of the cart104. After the tray 105 is restored to its original position, the cart104 and/or the tray 105 is cleaned and sanitized before being directedtowards the seeder component 108.

FIG. 6 depicts a flow diagram of an example process for cleaning andsanitizing the cart 104 or tray 105 in the sanitizer component 120.Referring also to FIGS. 2 and 3, at block 610, the cart 104 enters thesanitizer component 120 and a tray 105 coupled to the cart 104 isemptied, as described above. A high pressure wash commences at block 620followed by or in combination with a contact scrubbing process at block630. The cart 104 and/or tray 105 may then be rinsed at block 640. Onceparticulate material is removed, the cart 104 and/or tray 105 may besubjected to a UV radiation treatment to kill microorganisms at block650. The cart 104 and/or tray 105 are then dried by either heat or ablower or both at block 660. At block 670, an automatic inspectionsystem 160 inspects the cart 104 and/or tray 105 for its level ofcleanliness. If the automatic inspection system 160 determines the cart104 and/or tray 105 are clean, the cart 104 exits the sanitizercomponent 120, at block 680. However, if the automatic inspection system160 determines that the cart 104 and/or tray 105 require additionalcleaning, then the additional type and amount of cleaning needed isdetermined at block 690 and the cart 104 and/or tray 105 are againsubjected to the necessary cleaning block. It should be understood thatthis flow diagram depicts only one example with some of the variouscleaning mechanisms that may be implemented by the sanitizer component120. As such, other cleaning mechanisms are contemplated and intended tobe included within the scope of the present disclosure.

As illustrated above, various systems and methods for cleaning a tray inan assembly line grow pod are disclosed. These embodiments providepost-harvest mechanisms and processes for emptying, cleaning andsanitizing a cart and/or tray in preparation for reseeding of the tray.This ensures that future seed germination and plant growth is notadversely impacted by types of plants that were previously grown in thecart and the tray and/or contaminants that may have been present.Additionally, the sanitizer component includes an automatic inspectionsystem for inspecting and confirming the cleanliness before allowing thecart to exit the sanitizer component and proceed to reseeding. As aresult, the process of growing crops on the assembly line grow podbecomes efficient and cost-effective and the rate of food production isenhanced.

While particular embodiments and aspects of the present disclosure havebeen illustrated and described herein, various other changes andmodifications can be made without departing from the spirit and scope ofthe disclosure. Moreover, although various aspects have been describedherein, such aspects need not be utilized in combination. Accordingly,it is therefore intended that the appended claims cover all such changesand modifications that are within the scope of the embodiments shown anddescribed herein.

It should now be understood that embodiments disclosed herein includesystems and methods for cleaning a tray in an assembly line grow pod. Itshould also be understood that these embodiments are merely exemplaryand are not intended to limit the scope of this disclosure.

The invention claimed is:
 1. A method of cleaning a tray coupled to acart placed on a track, the method comprising: directing movement of thecart along the track into a sanitizer component; and directing movementof a first actuator arm positioned underneath the track and extendablethrough an opening in the track and an aperture at the bottom of thecart such that the first actuator arm extends through the opening in thetrack and the aperture at the bottom of the cart to contact the traysuch that the tray rotates in the first direction.
 2. The method ofclaim 1, further comprising: receiving, from a sensor of an automaticinspection system, information relating to a presence of contents in thetray; and determining that the contents in the tray are to be emptiedfrom the tray.
 3. The method of claim 1, further comprising: applying ahigh pressure wash, the high pressure wash directing water towards thetray to remove particulate material from the tray.
 4. The method ofclaim 1, further comprising: contacting a contact scrubber with thetray, the contact scrubber removing particulate material from the tray.5. The method of claim 1, further comprising: rinsing the tray withclean water or neutralizing water to remove material or chemicalspresent on the tray.
 6. The method of claim 5, further comprising:actuating at least one of a heater and a blower, the at least one of theheater and the blower drying the tray after rinsing the tray.
 7. Themethod of claim 1, further comprising: directing movement of a secondactuator arm to contact the tray and rotate the tray in a seconddirection opposite the first direction.
 8. The method of claim 7,further comprising: directing movement of a third actuator arm toretract and lower the tray to an original position upon contact of thetray with the third actuator arm.
 9. The method of claim 1, wherein thetray rotates in the first direction to an ending position past avertical to a ground surface.
 10. A method of automatically cleaning atray coupled to a cart placed on a track, the method comprising:directing, by a control device, movement of the cart into a sanitizercomponent along the track; transmitting, by the control device, one ormore signals to cause a first actuator arm to extend through an openingin the track and an aperture at a bottom of the cart to contact the traysuch that the tray rotates in a first direction; and transmitting, bythe control device, one or more signals to rotate the tray in a seconddirection opposite the first direction.
 11. The method of claim 10,further comprising: directing, by the control device, one or moresprayers to spray water towards the tray.
 12. The method of claim 10,further comprising: directing, by the control device, a contact scrubberto contact the tray and remove particulate matter from the tray.
 13. Themethod of claim 10, further comprising: directing, by the controldevice, activation of ultraviolet (UV) treatment system to focus UVlight on the tray.
 14. The method of claim 10, further comprising:directing, by the control device, at least one of a heater and a blower,the at least one of the blower drying the tray.
 15. The method of claim10, further comprising: transmitting, by the control device, one or moresignals to actuate a second actuator arm to retract and lower the trayto an original position upon contact of the tray with the secondactuator arm.
 16. The method of claim 10, further comprising: receiving,by the control device, information from an automatic inspection systemcommunicatively coupled to the control device, the informationindicating that the tray is clean; and directing, by the control device,movement of the cart out of the sanitizer component via the track. 17.The method of claim 10, further comprising: receiving, by the controldevice, information from an automatic inspection system communicativelycoupled to the control device, the information indicating that the trayis not clean; determining, by the control device, one or more additionalcleaning steps; and directing, by the control device, one or moreelements of the sanitizer component to complete the additional cleaningsteps.
 18. A method of cleaning a tray coupled to a cart placed on atrack, the method comprising: directing a first actuator arm positionedunderneath the track at a sanitizer component to extend through anopening in the track and an aperture at the bottom of the cart tocontact the tray such that the tray rotates in the first direction; andremoving material present on the tray.
 19. The method of claim 18,further comprising: directing movement of a second actuator arm tocontact the tray and rotate the tray in a second direction opposite thefirst direction.
 20. The method of claim 19, further comprising:directing movement of a third actuator arm to retract and lower the trayto an original position upon contact of the tray with the third actuatorarm.